Merge pull request #28 from bsinno/feature/refactoring_for_linux

Polish ros2 branch

CMakeLists.txt

@@ -2,44 +2,76 @@ cmake_minimum_required(VERSION 3.5)
 
 project(laser_geometry)
 
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
 find_package(ament_cmake REQUIRED)
 
-find_package(angles REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(Eigen3 REQUIRED)
 
-set(Boost_USE_STATIC_LIBS ON)
-find_package(Boost REQUIRED)
-
 # TODO(dhood): enable python support once ported to ROS 2
 # catkin_python_setup()
 
 include_directories(include
-    ${angles_INCLUDE_DIRS}
     ${rclcpp_INCLUDE_DIRS}
     ${sensor_msgs_INCLUDE_DIRS}
     ${tf2_INCLUDE_DIRS}
-    ${Boost_INCLUDE_DIRS}
     ${EIGEN3_INCLUDE_DIR}
 )
 
-add_library(laser_geometry src/laser_geometry.cpp)
-target_link_libraries(laser_geometry 
-    ${angles_LIBRARIES}
+add_library(laser_geometry SHARED src/laser_geometry.cpp)
+target_link_libraries(laser_geometry
     ${rclcpp_LIBRARIES}
     ${sensor_msgs_LIBRARIES}
     ${tf2_LIBRARIES}
 )
 
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(laser_geometry PRIVATE "LASER_GEOMETRY_BUILDING_LIBRARY")
+
 ament_export_include_directories(include)
+ament_export_interfaces(laser_geometry)
 ament_export_libraries(laser_geometry)
-ament_package(CONFIG_EXTRAS laser_geometry-extras.cmake)
 
-install(TARGETS laser_geometry
+install(
+  TARGETS laser_geometry
+  EXPORT laser_geometry
   ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib)
-install(DIRECTORY include/laser_geometry/
-  DESTINATION include/${PROJECT_NAME}/
-  FILES_MATCHING PATTERN "*.h")
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+if(BUILD_TESTING)
+  # TODO(Martin-Idel-SI): replace this with ament_lint_auto() and/or add the copyright linter back
+  find_package(ament_cmake_cppcheck REQUIRED)
+  find_package(ament_cmake_cpplint REQUIRED)
+  find_package(ament_cmake_lint_cmake REQUIRED)
+  find_package(ament_cmake_uncrustify REQUIRED)
+  ament_cppcheck()
+  ament_cpplint()
+  ament_lint_cmake()
+  ament_uncrustify()
+
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(ament_cmake_gmock REQUIRED)
+
+  ament_add_gtest(projection_test
+    test/projection_test.cpp
+    TIMEOUT 180)
+  if(TARGET projection_test)
+    target_link_libraries(projection_test laser_geometry)
+  endif()
+endif()
+
+ament_package(CONFIG_EXTRAS laser_geometry-extras.cmake)